Taper off high speed accel (#21599)

* max 0.2 diff from before to preserve bad tuned cars

* update ref
old-commit-hash: 5d07819084
commatwo_master
HaraldSchafer 4 years ago committed by GitHub
parent 7f75519892
commit bbd7181df2
  1. 4
      selfdrive/controls/lib/longitudinal_planner.py
  2. 2
      selfdrive/test/process_replay/ref_commit

@ -19,8 +19,8 @@ from selfdrive.swaglog import cloudlog
LON_MPC_STEP = 0.2 # first step is 0.2s
AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
A_CRUISE_MIN = -1.2
A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8]
A_CRUISE_MAX_BP = [0., 15., 25.]
A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
A_CRUISE_MAX_BP = [0., 15., 25., 40.]
# Lookup table for turns
_A_TOTAL_MAX_V = [1.7, 3.2]

@ -1 +1 @@
5d8ade78ab7b2aa678a8025eba58477579db71ad
97382f81d5d59213c25b5a3b553b3da2076742a2
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